EP3480100A3 - Method for play compensation of a drive unit, control device and vehicle with said control device - Google Patents

Method for play compensation of a drive unit, control device and vehicle with said control device Download PDF

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Publication number
EP3480100A3
EP3480100A3 EP18193694.9A EP18193694A EP3480100A3 EP 3480100 A3 EP3480100 A3 EP 3480100A3 EP 18193694 A EP18193694 A EP 18193694A EP 3480100 A3 EP3480100 A3 EP 3480100A3
Authority
EP
European Patent Office
Prior art keywords
drive unit
control device
vehicle
rotation
negative
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP18193694.9A
Other languages
German (de)
French (fr)
Other versions
EP3480100A2 (en
EP3480100B1 (en
Inventor
Florian Geyer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3480100A2 publication Critical patent/EP3480100A2/en
Publication of EP3480100A3 publication Critical patent/EP3480100A3/en
Application granted granted Critical
Publication of EP3480100B1 publication Critical patent/EP3480100B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/45—Control or actuating devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/20—Electric propulsion with power supplied within the vehicle using propulsion power generated by humans or animals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
    • B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
    • B62M6/40—Rider propelled cycles with auxiliary electric motor
    • B62M6/55—Rider propelled cycles with auxiliary electric motor power-driven at crank shafts parts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
    • G01L25/003—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency for measuring torque
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/13—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the tractive or propulsive power of vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/12—Bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

Verfahren zur Freilaufkompensation für ein Fahrzeug (100) mit einer Antriebseinheit (150), insbesondere ein Elektrofahrrad, wobei die Antriebseinheit (150) mindestens eine drehbare Komponente aufweist, wobei die drehbare Komponente (102, 210, 151) eine positive Drehrichtung oder eine negative Drehrichtung aufweisen kann, wobei die positive Drehrichtung dazu eingerichtet ist, ein Antriebsrad des Fahrzeugs (100) zur Vorwärtsfahrt anzutreiben, wobei das Verfahren die folgenden Schritte aufweist: Erfassung (310) der negativen Drehrichtung einer drehbaren Komponente (102, 210, 151) der Antriebseinheit (150), und Erzeugung (330) eines in negativer Drehrichtung gerichteten Motordrehmoments (M) mittels eines Elektromotors (151) der Antriebseinheit (150) bei einer erfassten negativen Drehrichtung, wobei das erzeugte Motordrehmoment (M) kleiner als ein Schleppmoment (M) des Elektromotors (151) und dazu eingerichtet ist, eine Kraft eines Fahrers des Fahrzeugs (100) zur Drehung des Elektromotors (151) zu reduzieren.Method for free-wheeling compensation for a vehicle (100) having a drive unit (150), in particular an electric bicycle, wherein the drive unit (150) has at least one rotatable component, wherein the rotatable component (102, 210, 151) has a positive direction of rotation or a negative direction of rotation the positive direction of rotation being adapted to drive a drive wheel of the vehicle (100) for forward travel, the method comprising the steps of: detecting (310) the negative direction of rotation of a rotatable component (102, 210, 151) of the drive unit ( 150), and generating (330) a negative directional motor torque (M) by means of an electric motor (151) of the drive unit (150) at a detected negative rotational direction, wherein the generated motor torque (M) is less than a drag torque (M) of the electric motor (151) and configured to apply a force of a driver of the vehicle (100) to rotate the electric motor (151).

EP18193694.9A 2017-10-13 2018-09-11 Method for play compensation of a drive unit, control device and vehicle with said control device Active EP3480100B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017218398.5A DE102017218398B3 (en) 2017-10-13 2017-10-13 Method for free-wheeling compensation of a drive unit, control unit and electric bicycle with this control unit and calibration method

Publications (3)

Publication Number Publication Date
EP3480100A2 EP3480100A2 (en) 2019-05-08
EP3480100A3 true EP3480100A3 (en) 2019-07-24
EP3480100B1 EP3480100B1 (en) 2021-02-24

Family

ID=63557293

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18193694.9A Active EP3480100B1 (en) 2017-10-13 2018-09-11 Method for play compensation of a drive unit, control device and vehicle with said control device

Country Status (3)

Country Link
EP (1) EP3480100B1 (en)
DE (1) DE102017218398B3 (en)
ES (1) ES2871087T3 (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2529674A1 (en) * 1982-07-01 1984-01-06 Elmex Method and installation for measuring the dynamic characteristics of a rotating system, especially of an electrical motor.
US5505078A (en) * 1994-09-09 1996-04-09 Storar; Robert C. Method and apparatus for measuring friction torque
JP2006087179A (en) * 2004-09-15 2006-03-30 Yaskawa Electric Corp Motor controller
EP2617636A1 (en) * 2010-09-16 2013-07-24 Panasonic Corporation Electric bicycle
US20140080661A1 (en) * 2012-09-19 2014-03-20 Mando Corporation Electric bicycle and control method thereof
CN105424276A (en) * 2015-12-16 2016-03-23 四川长虹电器股份有限公司 Method and device for obtaining rotational inertia of motor
US20160159431A1 (en) * 2014-12-05 2016-06-09 GM Global Technology Operations LLC Electric cycle having pedal force-based propulsion system

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010028654A1 (en) 2010-05-06 2011-11-10 Robert Bosch Gmbh Reverse gear for electric bicycles and method for the controlled coupling of output and motor of an electric bicycle
DE102010028645B4 (en) 2010-05-06 2022-01-20 Robert Bosch Gmbh Method and control device for actuating an electric brake of an electric bicycle, energy supply device with the control device and electric drive train for driving an electric bicycle

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2529674A1 (en) * 1982-07-01 1984-01-06 Elmex Method and installation for measuring the dynamic characteristics of a rotating system, especially of an electrical motor.
US5505078A (en) * 1994-09-09 1996-04-09 Storar; Robert C. Method and apparatus for measuring friction torque
JP2006087179A (en) * 2004-09-15 2006-03-30 Yaskawa Electric Corp Motor controller
EP2617636A1 (en) * 2010-09-16 2013-07-24 Panasonic Corporation Electric bicycle
US20140080661A1 (en) * 2012-09-19 2014-03-20 Mando Corporation Electric bicycle and control method thereof
US20160159431A1 (en) * 2014-12-05 2016-06-09 GM Global Technology Operations LLC Electric cycle having pedal force-based propulsion system
CN105424276A (en) * 2015-12-16 2016-03-23 四川长虹电器股份有限公司 Method and device for obtaining rotational inertia of motor

Also Published As

Publication number Publication date
EP3480100A2 (en) 2019-05-08
DE102017218398B3 (en) 2019-03-07
EP3480100B1 (en) 2021-02-24
ES2871087T3 (en) 2021-10-28

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